From 1ae767a17b02170c4bba755cefcfdf36bf50dc81 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Miguel=20=C3=81ngel=20Gonz=C3=A1lez=20Santamarta?= Date: Sun, 10 Dec 2023 15:42:43 +0100 Subject: [PATCH] new localization config --- .../launch/rgbd_odometry.launch.py | 13 ++++---- rover_localization/launch/rtabmap.launch.py | 32 ++++++++++++------- 2 files changed, 27 insertions(+), 18 deletions(-) diff --git a/rover_localization/launch/rgbd_odometry.launch.py b/rover_localization/launch/rgbd_odometry.launch.py index ab0f60f..5a312c7 100644 --- a/rover_localization/launch/rgbd_odometry.launch.py +++ b/rover_localization/launch/rgbd_odometry.launch.py @@ -46,7 +46,7 @@ def generate_launch_description(): "Odom/AlignWithGround": "false", "GFTT/MinDistance": "5.0", - "GFTT/QualityLevel": "0.1", + "GFTT/QualityLevel": "0.001", "GFTT/BlockSize": "4", "GFTT/UseHarrisDetector": "false", "GFTT/K": "0.04", @@ -75,17 +75,16 @@ def generate_launch_description(): # 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER "KAZE/Diffusivity": "1", - "BRIEF/Bytes": "128", + "BRIEF/Bytes": "64", "Vis/EstimationType": "0", # 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector - "Vis/FeatureType": "8", + "Vis/FeatureType": "6", "Vis/DepthAsMask": "true", - "Vis/FeatureWindowSize": "10", "Vis/CorGuessWinSize": "40", - "Vis/MaxFeatures": "0", - "Vis/MinDepth": "0.3", - "Vis/MaxDepth": "5.0", + "Vis/MaxFeatures": "1000", + "Vis/MinDepth": "0.0", + "Vis/MaxDepth": "0.0", # 0=Features Matching, 1=Optical Flow "Vis/CorType": "0", # kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7 diff --git a/rover_localization/launch/rtabmap.launch.py b/rover_localization/launch/rtabmap.launch.py index 45fda91..96cdc3a 100644 --- a/rover_localization/launch/rtabmap.launch.py +++ b/rover_localization/launch/rtabmap.launch.py @@ -49,23 +49,29 @@ def generate_launch_description(): # 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres "Optimizer/Strategy": "2", - "Optimizer/GravitySigma": "0.3", + "Optimizer/GravitySigma": "0.0", - "RGBD/OptimizeMaxError": "1.0", + "RGBD/OptimizeMaxError": "0.1", "RGBD/OptimizeFromGraphEnd": "true", + "RGBD/CreateOccupancyGrid": "true", "GFTT/MinDistance": "5.0", "GFTT/QualityLevel": "0.001", + "GFTT/BlockSize": "4", + "GFTT/UseHarrisDetector": "false", + "GFTT/K": "0.04", - "Vis/EstimationType": "0", + "BRIEF/Bytes": "64", + + "Vis/EstimationType": "1", + "Vis/ForwardEstOnly": "false", # 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector "Vis/FeatureType": "8", "Vis/DepthAsMask": "true", - "Vis/FeatureWindowSize": "10", "Vis/CorGuessWinSize": "40", - "Vis/MaxFeatures": "0", - "Vis/MinDepth": "0.3", - "Vis/MaxDepth": "5.0", + "Vis/MaxFeatures": "1000", + "Vis/MinDepth": "0.0", + "Vis/MaxDepth": "0.0", # 0=Features Matching, 1=Optical Flow "Vis/CorType": "0", # kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7 @@ -73,17 +79,21 @@ def generate_launch_description(): "Grid/Sensor": "1", "Grid/DepthDecimation": "4", - "Grid/RangeMin": "0.3", - "Grid/RangeMax": "5.0", + "Grid/RangeMin": "0.0", + "Grid/RangeMax": "3.0", "Grid/MinClusterSize": "10", "Grid/MaxGroundAngle": "45", "Grid/NormalK": "20", + "Grid/ClusterRadius": "0.1", "Grid/CellSize": "0.05", "Grid/FlatObstacleDetected": "false", "Gird/RayTracing": "true", + "Grid/3D": "true", - "GridGlobal/UpdateError": "0.01", - "GridGlobal/MinSize": "200" + "GridGlobal/UpdateError": "0.001", + "GridGlobal/MinSize": "200", + "GridGlobal/Eroded": "true", + "GridGlobal/FloodFillDepth": "16" }] remappings = [